I built a physics engine for robotics in Rust

About 4 months ago, I started building a physics engine specifically for robotics in Rust. Now that it has a reasonable set of features, I would like to show it to people.

A demo of a robot pushing a box. (It takes some imagination to think of that as a robot though...):
https://one-for-all.github.io/gorilla-physics

Github link:
https://github.com/one-for-all/gorilla-physics

Current features:

• multi-body dynamics by Featherstone's algorithms
• collision detection by GJK & EPA
• contact model of Hunt-Crossley
• semi-implicit Euler integrator & Runge-Kutta integrator